#include <PreintegrationCombinedParams.h>
Public Member Functions | |
bool | equals (const PreintegratedRotationParams &other, double tol) const override |
const Matrix3 & | getBiasAccCovariance () const |
const Matrix6 & | getBiasAccOmegaInit () const |
const Matrix3 & | getBiasOmegaCovariance () const |
PreintegrationCombinedParams () | |
PreintegrationCombinedParams (const Vector3 &n_gravity_) | |
void | print (const std::string &s="") const override |
void | setBiasAccCovariance (const Matrix3 &cov) |
void | setBiasAccOmegaInit (const Matrix6 &cov) |
void | setBiasOmegaCovariance (const Matrix3 &cov) |
Public Member Functions inherited from gtsam::PreintegrationParams | |
bool | equals (const PreintegratedRotationParams &other, double tol) const override |
const Matrix3 & | getAccelerometerCovariance () const |
const Vector3 & | getGravity () const |
const Matrix3 & | getIntegrationCovariance () const |
bool | getUse2ndOrderCoriolis () const |
PreintegrationParams () | |
Default constructor for serialization only. More... | |
PreintegrationParams (const Vector3 &n_gravity_) | |
void | print (const std::string &s="") const override |
void | setAccelerometerCovariance (const Matrix3 &cov) |
void | setIntegrationCovariance (const Matrix3 &cov) |
void | setUse2ndOrderCoriolis (bool flag) |
Public Member Functions inherited from gtsam::PreintegratedRotationParams | |
std::optional< Pose3 > | getBodyPSensor () const |
const Matrix3 & | getGyroscopeCovariance () const |
std::optional< Vector3 > | getOmegaCoriolis () const |
PreintegratedRotationParams () | |
PreintegratedRotationParams (const Matrix3 &gyroscope_covariance, std::optional< Vector3 > omega_coriolis) | |
void | setBodyPSensor (const Pose3 &pose) |
void | setGyroscopeCovariance (const Matrix3 &cov) |
void | setOmegaCoriolis (const Vector3 &omega) |
virtual | ~PreintegratedRotationParams () |
Static Public Member Functions | |
static std::shared_ptr< PreintegrationCombinedParams > | MakeSharedD (double g=9.81) |
static std::shared_ptr< PreintegrationCombinedParams > | MakeSharedU (double g=9.81) |
Static Public Member Functions inherited from gtsam::PreintegrationParams | |
static std::shared_ptr< PreintegrationParams > | MakeSharedD (double g=9.81) |
static std::shared_ptr< PreintegrationParams > | MakeSharedU (double g=9.81) |
Public Attributes | |
Matrix3 | biasAccCovariance |
Matrix6 | biasAccOmegaInt |
covariance of bias used as initial estimate. More... | |
Matrix3 | biasOmegaCovariance |
Public Attributes inherited from gtsam::PreintegrationParams | |
Matrix3 | accelerometerCovariance |
Matrix3 | integrationCovariance |
continuous-time "Covariance" describing integration uncertainty More... | |
Vector3 | n_gravity |
Gravity vector in nav frame. More... | |
bool | use2ndOrderCoriolis |
Whether to use second order Coriolis integration. More... | |
Public Attributes inherited from gtsam::PreintegratedRotationParams | |
std::optional< Pose3 > | body_P_sensor |
The pose of the sensor in the body frame. More... | |
Matrix3 | gyroscopeCovariance |
std::optional< Vector3 > | omegaCoriolis |
Coriolis constant. More... | |
Parameters for pre-integration using PreintegratedCombinedMeasurements: Usage: Create just a single Params and pass a shared pointer to the constructor
Definition at line 36 of file PreintegrationCombinedParams.h.
|
inline |
Default constructor makes uninitialized params struct. Used for serialization.
Definition at line 45 of file PreintegrationCombinedParams.h.
|
inline |
See two named constructors below for good values of n_gravity in body frame
Definition at line 52 of file PreintegrationCombinedParams.h.
|
overridevirtual |
Reimplemented from gtsam::PreintegratedRotationParams.
Definition at line 49 of file CombinedImuFactor.cpp.
|
inline |
Definition at line 82 of file PreintegrationCombinedParams.h.
|
inline |
Definition at line 84 of file PreintegrationCombinedParams.h.
|
inline |
Definition at line 83 of file PreintegrationCombinedParams.h.
|
inlinestatic |
Definition at line 60 of file PreintegrationCombinedParams.h.
|
inlinestatic |
Definition at line 68 of file PreintegrationCombinedParams.h.
|
overridevirtual |
Reimplemented from gtsam::PreintegratedRotationParams.
Definition at line 38 of file CombinedImuFactor.cpp.
|
inline |
Definition at line 78 of file PreintegrationCombinedParams.h.
|
inline |
Definition at line 80 of file PreintegrationCombinedParams.h.
|
inline |
Definition at line 79 of file PreintegrationCombinedParams.h.
Matrix3 gtsam::PreintegrationCombinedParams::biasAccCovariance |
continuous-time "Covariance" describing accelerometer bias random walk
Definition at line 37 of file PreintegrationCombinedParams.h.
Matrix6 gtsam::PreintegrationCombinedParams::biasAccOmegaInt |
covariance of bias used as initial estimate.
Definition at line 41 of file PreintegrationCombinedParams.h.
Matrix3 gtsam::PreintegrationCombinedParams::biasOmegaCovariance |
continuous-time "Covariance" describing gyroscope bias random walk
Definition at line 39 of file PreintegrationCombinedParams.h.